基于MBSE的无人驾驶车辆轨迹跟踪控制系统设计与验证

doi:10.12305/j.issn.1001-506X.2026.05.25

Abstract

Abstract:

In response to the increasingly complex trajectory tracking control system problems of autonomous vehicles, the model-based systems engineering method is applied to digitally model and design the trajectory tracking control system. The overall architecture of the trajectory tracking control system for autonomous vehicles is analyzed, a digital model with strong correlation between each other is built. Stakeholder demand, demand analysis, functional logic and physical architecture, and traceability matrix between models are established to ensure the reasonableness and consistency of the design process. In terms of control, a two-degree-of-freedom vehicle dynamics model is establised, and a linear quadratic regulator control algorithm is designed. To achieve joint simulation of architecture model and control strategy, the technology of data flow between heterogeneous software is studied. Cases are simulated under typical trajectory tracking scenarios for an unmanned vehicle. The results demonstrate that the digital model of the trajectory tracking control system constructed by the proposed method can achieve precise trajectory tracking for the unmanned vehicles, fulfilling the closed-loop verification of control system requirements.

Key words: model-based systems engineering （MBSE）, unmanned vehicle, trajectory tracking, linear quadratic regulator (LQR) control

CLC Number:

TP 273

Hangyu LI, Xinyu LI, Wenfeng ZHANG, Shan LUO, Zhilin JIN. Design and verification of trajectory tracking control system for autonomous vehicles based on MBSE[J]. Systems Engineering and Electronics, 2026, 48(5): 1695-1705.

Figures/Tables 18

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Design and verification of trajectory tracking control system for autonomous vehicles based on MBSE

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